stop_line.h
Go to the documentation of this file.
00001 /* -*- mode: C++ -*-
00002  *
00003  *  Navigator stop line controller
00004  *
00005  *  Copyright (C) 2007, 2010, Austin Robot Technology
00006  *  License: Modified BSD Software License Agreement
00007  *
00008  *  $Id: stop_line.h 872 2010-11-28 13:31:07Z jack.oquin $
00009  */
00010 
00011 
00012 #ifndef __STOP_LINE_HH__
00013 #define __STOP_LINE_HH__
00014 
00015 class StopLine: public Controller
00016 {
00017 public:
00018 
00019   StopLine(Navigator *navptr, int _verbose);
00020   ~StopLine();
00021   result_t control(pilot_command_t &pcmd, float topspeed=3.0);
00022   void reset(void);
00023 
00024 private:
00025 
00026   // controller state
00027   bool stopping;                        // stopping initiated
00028   bool creeping;                        // creeping up to line
00029   double initial_speed;                 // initial speed while stopping
00030   double max_creep_distance;            // applicable distance for creep
00031 
00032   void reset_me(void);
00033 };
00034 
00035 #endif // __STOP_LINE_HH__
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends Defines


art_nav
Author(s): Austin Robot Technology, Jack O'Quin
autogenerated on Tue Sep 24 2013 10:42:11